CN-116299731-B - Moving magnetic target response calculation and tracking method based on induced electromotive force

CN116299731BCN 116299731 BCN116299731 BCN 116299731BCN-116299731-B

Abstract

The invention provides a method for calculating and tracking response of a moving magnetic target based on induced electromotive force, which comprises the steps of constructing a sensor array consisting of at least three-component magnetic induction coils, utilizing the induced electromotive force induced in a sensor caused by the movement of the magnetic target, firstly obtaining a position vector of the moving magnetic target by solving a least square problem, then obtaining a stable speed vector by utilizing polynomial fitting based on the obtained position vector, and finally calculating a magnetic moment vector by utilizing the position vector and the speed vector. The data adopted by the invention is the induced electromotive force of the three-component magnetic induction coil, the data amplitude is in direct proportion to the movement speed of the magnetic target body, and compared with the traditional magnetic induction intensity data, the data carries the speed information of the moving target, thereby being more beneficial to acquiring accurate speed information and position information. The invention provides a new thought for detecting and tracking the moving target, and the method has stronger sensitivity to the speed.

Inventors

LUO MING
PEI JIANXIN
WANG QI
XU TIAN

Assignees

中国海洋大学

Dates

Publication Date: 20260505
Application Date: 20230104

Claims (4)

1. A method for calculating and tracking response of a moving magnetic target based on induced electromotive force is characterized by comprising the following steps of S1, reading sensor array induced electromotive force data participating in inversion, setting inversion execution parameters and designing an inversion initial model, S2, constructing a moving magnetic target tracking target function And has the following form Wherein, the method comprises the steps of, Is a model parameter comprising a position vector of a magnetic target body Velocity vector And magnetic moment vector [ ], In order to induce an electromotive force to forward the algorithm, As the standard deviation of the i-th data, In order to observe the data vector, The method comprises the steps of obtaining a position vector of a magnetic moving target by solving a least square problem, S4, calculating a speed vector of the target based on the obtained position information, S5, calculating a magnetic moment vector of a magnetic target body based on the obtained position information and the speed information, and calculating an induced electromotive force forward modeling Wherein, the method comprises the steps of, In order to induce an electromotive force, the magnetic field is generated, For the relative permeability of the core material of the induction coil, The vertical cross-sectional area of the induction coil, In order to be parallel to the induction coil, t is time, The partial derivative of the magnetic induction with respect to time at the location of the sensor is caused for the magnetic target movement, The components in three orthogonal directions are expressed as Wherein, the method comprises the steps of, The movement speeds of the magnetic targets in three orthogonal directions, Is a coefficient matrix, each element of which has the following form ; Wherein, the , A kind of electronic device Is a coefficient, in particular In the above-mentioned steps, For the position vector between the object and the sensor, Is a position vector Modulus of [ of ] And is the magnetic moment vector of the moving magnetic target.
2. The method of claim 1, wherein the sensor array in S1 is composed of at least 3 three-component magnetic induction coil sensors.
3. The method for calculating and tracking a moving magnetic target response based on induced electromotive force according to claim 1, wherein the step S4 of calculating a velocity vector of the target based on the obtained position information uses a polynomial to fit velocity vectors at different times to reduce velocity anomalies due to abrupt position changes at different times.
4. The method for calculating and tracking a moving magnetic target response based on induced electromotive force according to claim 1, wherein the calculating a magnetic moment vector of a magnetic target body based on the obtained position information and velocity information in S5 is as follows Wherein, the method comprises the steps of, The partial derivative of the magnetic induction with respect to time at the location of the sensor is caused for the magnetic target movement, Is a coefficient matrix and has And 。

Description

Moving magnetic target response calculation and tracking method based on induced electromotive force Technical Field The invention belongs to the technical field of magnetic detection, and particularly relates to a moving magnetic target response calculating and tracking method based on induced electromotive force. Background Moving targets such as land vehicles and sea ships are usually composed of ferromagnetic substances, and a magnetic source composed of remanence and magnetization of self-ferromagnetic materials can generate a static magnetic field. The static magnetic field is an important characteristic signal of a moving target and is characterized by basic information for realizing the positioning of the magnetic target. The positioning method of the moving target essentially uses the static electromagnetic field of the target to carry out real-time position inversion on the target at a specific moment, the data used by the positioning method are magnetic induction intensity values or gradient values of the target at the specific moment, and the adopted magnetic sensor is a magnetometer for measuring the absolute value of the static magnetic field of the underwater target, such as a fluxgate, a SQUID and the like. However, such sensors for measuring absolute field values are generally expensive and have a narrow detection sensitivity range, and thus have a limited range of applications. In addition, the moving speed of the target is not considered in the target moving state obtained by the positioning method, and the positioning accuracy is independent of the moving speed of the target. The magnetic induction coil is a magnetic field sensor based on an electromagnetic induction method, has wider detection sensitivity range than other sensors, and is very suitable for capturing a weak magnetic field of a target. When one magnetic induction coil is arranged at a preset position, the magnetic flux at the position of the induction coil is changed by the movement of the magnetic target, and the induction coil generates induced electromotive force. The greater the speed of movement of the target, the greater the response it produces. It follows that the speed of movement of the target is itself a valid message. Therefore, it is conceivable that the response of the magnetic induction coil is proportional to the speed of the moving object, and thus the magnetic induction coil has natural advantages in achieving the trajectory positioning of the moving object. However, algorithms for target localization using motion velocity information of magnetic targets are rarely seen in the published reports. Disclosure of Invention The invention aims to provide a response calculation and tracking method of a moving magnetic target based on induced electromotive force, which uses induced electromotive force data carrying speed information, and can be applied to realizing remote detection and tracking of the moving magnetic target. In order to achieve the above object, the present invention provides the following technical solutions: The method for calculating and tracking the response of the moving magnetic target based on the induced electromotive force specifically comprises the following steps: S1, reading sensor array induced electromotive force data participating in inversion, setting inversion execution parameters and designing an inversion initial model; s2, constructing a moving magnetic target tracking objective function And has the following form Wherein, the Is a model parameter comprising a position vector of a magnetic target bodyVelocity vectorAnd magnetic moment vector [],In order to induce an electromotive force to forward the algorithm,As the standard deviation of the i-th data,In order to observe the data vector,The number of the observation numbers; S3, obtaining a position vector of the magnetic moving target by solving a least square problem; S4, calculating a speed vector of the target based on the obtained position information; S5, calculating the magnetic moment vector of the magnetic target body based on the obtained position information and the speed information. The sensor array described in S1 is composed of at least 3 three-component magnetic induction coil sensors. The method for calculating the forward performance of the induced electromotive force in S2 is as follows Wherein, the In order to induce an electromotive force, the magnetic field is generated,For the relative permeability of the core material of the induction coil,The vertical cross-sectional area of the induction coil,In order to be parallel to the induction coil, t is time,The partial derivative of the magnetic induction with respect to time at the location of the sensor is caused for the magnetic target movement,The components in three orthogonal directions can be expressed as Wherein, the The movement speeds of the magnetic targets in three orthogonal directions,Is a coefficient matrix, each element of which has the follow